Danfoss VLT Series Programming Manual page 85

Servo Drive Operation
The status of the touch probe can be obtained using
object 0x60B9 (see chapter 7.18.2 Parameter: Touch Probe
Status (0x60B9)). The position results are given in objects
0x60BA–0x60BD (see chapter 7.18.3 Parameter 51-51: Touch
Probe 1 Positive Edge (0x60BA) to chapter 7.18.6 Parameter
51-64: Touch Probe 2 Negative Edge (0x60BD)). The
corresponding time stamps can be read using the objects
0x60D1–0x60D4 (see chapter 7.18.10 Parameter 51-53: Touch
Probe Time Stamp 1 Positive Value (0x60D1) to
chapter 7.18.13 Parameter 51-66: Touch Probe Time Stamp 2
Negative Value (0x60D4)).
2.5.2.1 Touch Probe Window
For touch probe events it is possible to define a window. If
this functionality is activated (for touch probe 1: object
0x60B8 bit 6 = 1, and for touch probe 2: object 0x60B8 bit
14 = 1), touch probe events are only accepted within this
window. The window is configured using objects 0x3853:
First position (see chapter 7.18.8 Parameter: First Position
(0x3853)) and 0x3854: Last position (see
chapter 7.18.9 Parameter: Last Position (0x3854)).
A. FirstPosition < LastPosition
– +
0
LastPosition LastPosition
accepted
FirstPosition
B. FirstPosition > LastPosition
– +
0
FirstPosition
FirstPosition
accepted
accepted
LastPosition
Illustration 2.128 Examples of Windows where Trigger Events
are Accepted (For Modulo Axes)
MG36D102
Programming Guide
– +
0
FirstPosition
accepted
– +
0
LastPosition
accepted
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2.5.2.2 Touch Probe Edge Counter for
Continuous Mode
Touch probe edge counter for continuous mode
For continuous touch probe mode (0x60B8 bit 1 = 1, or
0x60B8 bit 9 = 1), a counter per touch probe channel is
incremented on each touch probe event. Therefore, the
control device may check how many touch probe events
occur between the control cycles. A counter object is
defined per touch probe and per edge. See objects:
•
0x60D5 (chapter 7.18.14 Parameter 51-52: Touch
Probe 1 Positive Edge Counter (0x60D5))
•
0x60D6 (chapter 7.18.15 Parameter 51-55: Touch
Probe 1 Negative Edge Counter (0x60D6))
•
0x60D7 (chapter 7.18.16 Parameter 51-62: Touch
Probe 2 Positive Edge Counter (0x60D7))
•
0x60D8 (chapter 7.18.17 Parameter 51-65: Touch
Probe 2 Negative Edge Counter (0x60D8))
2 2
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